MC_GroupHalt

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MC_GroupHalt

This Function Block commands a controlled motion stop. It aborts any ongoing Function Block execution. Ax-esGroup is moved to the state GroupMoving, until the velocity is zero. With the DONE output set, the state is transferred to GroupStandby.

Note

  • MC_GroupHalt is used to stop the axes group under normal operation conditions. In non-buffered mode: during deceleration of the axes group it is possible to set another motion command, which will abort the MC_GroupHalt and will be executed immediately,
  • If this command is active the next command can be issued. For example a driverless vehicle detects an obstacle and needs to stop. MC_GroupHalt is issued. Before the StandStill is reached the obstacle is removed and the motion can be continued by setting another motion command, so the vehicle does not stop,
  • The relevant axes stay on the same path which would have been executed without having issued MC_GroupHalt.

This Function Block is only supported for PLC-based central Motion Control with Coordinated Motion structures.

The following example shows the behaviour of MC_GroupHalt in combination with a MC_MoveCircularAbsolute:

MyAxesGroup starts at Position (10.0; 10.0; 0.0). A FB MC_MoveCircularAbsolute is commanded with aux-iliary position (30.0; 30.0; 0.0) and end position (50.0; 10.0; 0.0). This results in a 180° circular motion within the xy-plane of any coordinate system.

Point of Time Description
t:sub:h The circular motion is aborted by FB MC_GroupHalt. MyAxesGroup stays on the path during halt.
t:sub:r R)MC_MoveCircularAbsolute is executed again and aborts MC_GroupHalt. MC_GroupHalt allows this, in con-trast to MC_GroupStop. AxesGroup can accelerate again without reaching StandStill. (MC_MoveCircularAbsolute can be retriggered in order to continue the original circular motion as long as MyAxesGroup didn’t pass the auxiliary position.)
t:sub:e E)MyAxesGroup reaches end position (50.0; 10.0; 0.0)
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Behavior of MC_GroupHalt in combination with MC_MoveCircularAbsolute

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